public override void Randomize() { int arraylength = -1; Random rand = new Random(); int strlength; byte[] strbuf, myByte; //points arraylength = rand.Next(10); if (points == null) { points = new Point32[arraylength]; } else { Array.Resize(ref points, arraylength); } for (int i = 0; i < points.Length; i++) { //points[i] points[i] = new Point32(); points[i].Randomize(); } }
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex) { int arraylength = -1; bool hasmetacomponents = false; object __thing; int piecesize = 0; byte[] thischunk, scratch1, scratch2; IntPtr h; //points hasmetacomponents |= true; arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex); currentIndex += Marshal.SizeOf(typeof(System.Int32)); if (points == null) { points = new Point32[arraylength]; } else { Array.Resize(ref points, arraylength); } for (int i = 0; i < points.Length; i++) { //points[i] points[i] = new Point32(SERIALIZEDSTUFF, ref currentIndex); } }
public override byte[] Serialize(bool partofsomethingelse) { int currentIndex = 0, length = 0; bool hasmetacomponents = false; byte[] thischunk, scratch1, scratch2; List <byte[]> pieces = new List <byte[]>(); GCHandle h; //points hasmetacomponents |= true; if (points == null) { points = new Point32[0]; } pieces.Add(BitConverter.GetBytes(points.Length)); for (int i = 0; i < points.Length; i++) { //points[i] if (points[i] == null) { points[i] = new Point32(); } pieces.Add(points[i].Serialize(true)); } //combine every array in pieces into one array and return it int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length); int __a_b__e = 0; byte[] __a_b__d = new byte[__a_b__f]; foreach (var __p__ in pieces) { Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length); __a_b__e += __p__.Length; } return(__a_b__d); }
/// <summary> /// 订阅更新话题 /// </summary> /// <param name="topic"></param> public void SubscribeToFootprint(string topic) { lock (this) { if (foothandle == null) { foothandle = new NodeHandle(); } if (footSub != null && footSub.topic != topic) { footSub.shutdown(); footSub = null; } if (footSub != null) { return; } if (tfer == null) { tfer = new Transformer(false); } Console.WriteLine("Subscribing to footprint at:= " + topic); footSub = foothandle.subscribe <gm.PolygonStamped>(topic, 1, i => owner.BeginInvoke(new Action(() => { if (i.polygon.points.Length == 0) { return; } //if (!tfer.waitForTransform("/map", "/base", i.header.stamp, new m.Duration(new Messages.TimeData(1, 0)), null)) // return ; //tfer.transformVector("/map",) //emTransform ret = new emTransform(); //if (tfer.lookupTransform("/map", "/base", i.header.stamp, out ret)) //{ pointArray.Clear(); int length = i.polygon.points.Length; for (int index = 0; index < length; index++) { gm.Point32 p = i.polygon.points[index]; //Stamped<emVector3> stampVector_in = new Stamped<emVector3>(i.header.stamp, i.header.frame_id, new emVector3(p.x,p.y,p.z)); //Stamped<emVector3> stamVector_out = new Stamped<emVector3>(); //tfer.transformVector("map", stampVector_in, ref stamVector_out); Point worldPoint = owner.Map2World(new PointF(p.x, p.y)); pointArray.Add(worldPoint); } pointArray.Add(pointArray[0]); if (length > 0) { startPoint = (Point)pointArray[0]; endPoint = (Point)pointArray[length - 1]; } Invalidate(); owner.LastDataUpdateTime = DateTime.Now; //owner.Invalidate(); //} }))); } }